JP2019038372A - Image display device - Google Patents

Abstract

To provide an image display device that can intuitively change a display range according to an intention of an occupant.SOLUTION: A visually recognition assisting device comprises: a photographing device 10 for photographing a circumference of an own vehicle; an image display device 50 for displaying an image photographed by the photographing device; a view-point detecting device 30 for detecting a position of a view point of an occupant; and display range changing means 40 that pans the image displayed in the image display device to one side in a horizontal direction according to movement of the view point to the other side in the horizontal direction.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an image display device that is provided in a vehicle such as an automobile and displays a situation around the host vehicle, and more particularly to an image display device that can intuitively change a display range in accordance with a passenger's intention.

  In a vehicle such as an automobile, an image captured by an imaging device such as a camera is used so that a driver or other occupant during manual driving can easily recognize the situation around the host vehicle and reduce the monitoring burden. Various visual assistance devices to be presented are proposed.

For example, in Patent Document 1, in a vehicle display device that displays an image obtained by capturing an image of the front of the host vehicle with an infrared camera on a head-up display, Among the video data, there is described what extracts and displays video data offset from the center by a predetermined image shift amount.
In Patent Literature 2, in a driving support device that magnifies and displays an image of a gaze target with a driver's eyes directed during driving, an enlarged image in which the gaze target is enlarged and an annular shape adjacent to the entire outer periphery of the enlarged image are disclosed. An image composed of an enlarged image and a surrounding reduced image that has been subjected to image reduction processing so as to be visually recognized by the driver in a state in which the image is continuously connected from the original landscape to the original landscape is generated and superimposed. It is described.
In Patent Document 3, in a display device for a vehicle, a mirror image of a road reflector in front of the host vehicle is photographed by a camera, and when the road reflector to be photographed adopts a curved mirror, it is projected and converted into a plane mirror image. It describes that image processing is performed and the image subjected to this image processing is displayed in the display area of the windshield.
In Patent Document 4, in a vehicle display device that displays an image obtained by capturing an image of the front of the host vehicle with an infrared camera on a head-up display, the image enlargement ratio is changed stepwise according to the vehicle speed, and the display unit is enlarged. The display light that shows the displayed image is emitted toward the front windshield through the opening of the instrument panel, so that the driver can see the image in front of the vehicle with the display light and realize that the enlarged display is being performed. It is described to do so.

Japanese Patent Laid-Open No. 2004-155307 JP 2009-43003 A JP 2005-178623 A JP 2004-168105 A

In the visual assistance device as described above, it is difficult to display all information that should be visually recognized by the passenger during the operation of the vehicle on one screen, and the range (view) of image display can be changed according to the passenger's request. Is desirable.
However, since the change of the display range may be performed while the occupant manually drives the vehicle, the convenience of the visual assistance device is impaired if a complicated operation is required.
In view of the above-described problems, an object of the present invention is to provide a visual assistance device that can intuitively change a display range in accordance with an occupant's intention.

The present invention solves the above-described problems by the following means.
The invention according to claim 1 is an imaging device that captures an image of the surroundings of the host vehicle, an image display device that displays an image captured by the imaging device, a viewpoint detection device that detects the position of a passenger's viewpoint, and a horizontal direction. And a display range changing unit that pans an image displayed on the image display device to the other side in the horizontal direction in accordance with the movement of the viewpoint to one side.
According to this, when the occupant moves the viewpoint to one side in the horizontal direction, the image can be panned (framing movement in the horizontal direction) to the other side in the horizontal direction. The display range can be changed intuitively.
Such an operation is similar to an operation that is unconsciously performed when a person tries to visually recognize an area that is blocked by an obstacle and has a viewing angle, and the occupant can change the display range without a sense of incongruity.

The invention according to claim 2 is characterized in that the display range changing means tilts the displayed image to the other side in the vertical direction in accordance with the movement of the viewpoint to one side in the vertical direction. 1. The visual assistance device according to 1.
According to this, when the occupant moves the viewpoint to one side in the vertical direction, the image can be tilted (vertical framing movement) to the other side in the vertical direction. The display range can be changed intuitively.

The invention according to claim 3 is characterized in that the image display device displays at least a horizontal display magnification as viewed from the occupant's viewpoint, which is reduced with respect to the visual field viewed with the naked eye. The visual aid device according to claim 1 or claim 2.
According to this, by reducing the display magnification of the image display device with respect to the field of view visually observed by the occupant (widening the angle of view), the occupant can be provided with a wide range of front view information, and with less sight line movement. A wide range of situations can be seen.

According to a fourth aspect of the present invention, the image display device is arranged to be offset in the left-right direction with respect to the occupant, and the display range changing means is near the end on the occupant side in the left-right direction of the image display device. 4. The pan amount of the image is set according to a movement angle of the viewpoint when viewed from a viewpoint movement reference point set to 4. 4. It is a visual aid device.
According to this, the display range can be greatly changed with a relatively small viewpoint movement amount, and a wide range of visual field information can be obtained without moving the viewpoint excessively.

According to a fifth aspect of the present invention, the image display device is arranged offset in the left-right direction with respect to the occupant, and the display range changing means is on the opposite side of the occupant side in the left-right direction of the image display device. 4. The pan amount of the image is set according to a movement angle of the viewpoint when viewed from a viewpoint movement reference point set in the vicinity of the end portion. 5. It is the visual recognition assistance apparatus as described in above.
According to this, by suppressing the change amount of the display range with respect to the viewpoint movement amount, it is possible to prevent the change of the display range from becoming complicated and giving the passenger an uncomfortable feeling.

The invention which concerns on Claim 6 is provided with the risk target object detection means which detects the risk target object around the own vehicle, The said display range change means is with respect to the movement amount of the said viewpoint, when the said risk target object is detected. The visual assistance device according to any one of claims 1 to 5, wherein the pan amount of the image is increased.
According to this, when the risk target exists, the panning amount of the image with respect to the viewpoint movement amount increases, so that the occupant feels uncomfortable, alerts the occupant, and safety can be improved.

The invention according to claim 7 is provided with risk object detection means for detecting a risk object around the host vehicle, and the display range changing means relates to the position of the viewpoint when the risk object is detected. The display assisting device according to any one of claims 1 to 5, wherein a display range is set so that the risk object is displayed.
According to this, when there is a risk object, the risk object is always displayed, thereby alerting the occupant and enhancing the visibility of the risk object and prompting appropriate measures.

  As described above, according to the present invention, it is possible to provide an image display device that can intuitively change the display range according to the occupant's intention.

It is a block diagram which shows the structure of 1st Embodiment of the visual recognition assistance apparatus to which this invention is applied. It is a figure which shows an example of the driver visual field in the vehicle which has the visual recognition auxiliary | assistance apparatus of 1st Embodiment. It is a flowchart which shows operation | movement of the visual recognition assistance apparatus of 1st Embodiment. It is a figure which shows the visual angle detection in the visual recognition auxiliary | assistance apparatus of 1st Embodiment. It is a figure which shows the other example of the driver visual field in the vehicle which has the visual recognition auxiliary | assistance apparatus of 1st Embodiment, Comprising: It is a figure which shows the state which moved the viewpoint to the right side from the state of FIG. It is a figure which shows the other example of the driver visual field in the vehicle which has the visual recognition auxiliary | assistance apparatus of 1st Embodiment, Comprising: It is a figure which shows the state at the time of the risk of colliding with the other vehicle approaching from the side. It is a figure which shows the visual angle detection in 2nd Embodiment of the visual recognition auxiliary | assistance apparatus to which this invention is applied.

<First Embodiment>
Hereinafter, a first embodiment of a visual assistance device to which the present invention is applied will be described.
The visual assistance device according to the first embodiment is provided in an automobile such as a passenger car, for example, and presents an image of the front of the host vehicle to an occupant such as a driver using an image display device, and assists in viewing the situation around the host vehicle. is there.
FIG. 1 is a block diagram illustrating a configuration of the visual assistance device of the first embodiment.
The visual assistance device 1 of the first embodiment includes a stereo camera device 10, an environment recognition unit 20, an occupant monitoring unit 30, a display image generation unit 40, a display device 50, and the like.

The stereo camera device 10, the environment recognition unit 20, the occupant monitoring unit 30, the display image generation unit 40, and the display device 50 are connected to each other via, for example, an in-vehicle LAN system such as a CAN communication system or the like. Transmission and reception are possible.
Each unit includes an information processing unit such as a CPU, a storage unit such as a RAM and a ROM, an input / output interface, and a bus connecting them.

The stereo camera device 10 includes a camera LH11, a camera RH12, a stereo image processing unit 13, and the like.
The camera LH11 and the camera RH12 are imaging devices having an optical system such as a lens group that images the front of the host vehicle at a wide angle, a solid-state imaging device such as a CMOS, a driving device thereof, an image processing engine, an input / output interface, and the like. .
The camera LH11 and the camera RH12 are mounted with the optical axis of the optical system facing the front of the vehicle in a state of being separated in the left-right direction.
For example, the camera LH11 and the camera RH12 are fixed in a state of protruding downward from the front end portion of the roof 130 into the vehicle interior, and take an image in front of the host vehicle through the windshield 140.

Data relating to images captured by the camera LH11 and the camera RH12 is sequentially provided to the stereo image processing unit 13.
These image data are also provided to the display image generation unit 40 via the stereo image processing unit 13 in order to generate an image to be displayed on the display device 50.
For example, as in the first embodiment, when displaying the situation of the left front of the host vehicle (see FIG. 2), a display image can be generated using an image captured by the camera LH11.

The stereo image processing unit 13 performs known stereo image processing on the image data sequentially transmitted from the camera LH11 and the camera RH12 to recognize a subject existing in front of the host vehicle and to make the recognized subject relative to the host vehicle. The position is detected using the pixel position on the image, the parallax between the camera LH11 and the camera RH12, and the like.
Further, the stereo image processing unit 13 determines the type and attribute of the recognized subject (for example, other vehicle, bicycle, pedestrian, building, lane edge white line, etc.) by known image processing and image recognition techniques. Is possible.

The environment recognition unit 20 recognizes the environment in front of the host vehicle using the object detection result in front of the host vehicle by the stereo image processing unit 13.
The environment recognition unit 20 recognizes a risk object that has a high possibility of colliding with the own vehicle from other vehicles, buildings, and the like recognized by the stereo image processing unit 13 from the relative position and relative speed with respect to the own vehicle.
The environment recognition unit 20 functions as a risk object detection means according to the present invention.

When the environment recognition unit 20 determines that the collision between the risk object and the host vehicle is inevitable from the relative position and relative speed (approach speed) of the risk object with respect to the host vehicle (when the pre-crash determination is established) ), Information on the risk object is transmitted to the display image generation unit 40.
Here, examples of the information on the risk object include the type of the risk object, the relative position and the relative speed with respect to the host vehicle, and the like.

The occupant monitoring unit 30 detects an occupant state by performing image processing on an image obtained by capturing an occupant serving as a driver during manual operation with the occupant photographing camera 31.
The occupant photographing camera 31 is provided, for example, on the instrument panel 140 of the vehicle, and images the face of the occupant to be monitored.
The occupant photographing camera 31 can be provided, for example, in a combination meter 141 (see FIG. 2).
The occupant monitoring unit 30 performs predetermined image processing on the image data captured by the occupant photographing camera 31, and detects the position of the viewpoint (eye part), the line-of-sight direction, the arousal state, and the like.
Information regarding the viewpoint position of the occupant is transmitted to the display image generation unit 40.
The occupant monitoring unit 30 functions as a viewpoint detection device according to the present invention in cooperation with the occupant photographing camera 31.

The display image generation unit 40 uses the image data provided from the stereo camera device 10, the information related to the risk object by the environment recognition unit 20, and the detection result of the occupant viewpoint position by the occupant monitoring unit 30, by the display device 50. The display image data to be displayed is generated.
The display image generation unit 40 has a function of setting a display range and a display position displayed on the display device 50 among the image data provided from the stereo camera device 10.
The display image generation unit 40 changes the framing of the image displayed on the display device 50 in the horizontal direction and the vertical direction according to the viewpoint movement of the occupant detected by the occupant monitoring unit 30, and the display range (field of view) is changed. Has the function to change.
The display image generation unit 40 functions as a display range changing unit according to the present invention.
The function of the display image generation unit 40 will be described later in detail.

The display device 50 is an image display device that presents to the user (occupant), for example, an image obtained by imaging the situation outside the vehicle diagonally to the left of the host vehicle.
The display device 50 includes a display that displays the display image generated by the display image generation unit 40, a driving device thereof, and the like.
As the display device 50, for example, a transparent LCD that is substantially transparent when not displayed and can be seen through by an occupant can be used.
The arrangement of the display device 50 will be described in detail later.

FIG. 2 is a diagram illustrating an example of a driver field of view in a vehicle including the visual assistance device of the first embodiment.
As shown in FIG. 2, the vehicle includes a windshield 110, a front door glass 120, a side mirror 130, an instrument panel 140, a steering wheel 150, an A pillar 160, a roof 170, a room mirror 180, and the like.

The windshield 110 is disposed on the front side of the driver.
The windshield 110 is a secondary curved glass that is formed in a substantially horizontally long rectangular shape and is curved in a direction in which the front is convex.
The windshield 110 is disposed so as to be tilted rearward so that the upper end portion is on the vehicle rear side with respect to the lower end portion.
When viewed from the occupant's viewpoint, the transparent portion of the windshield 110 (the portion excluding a black ceramic portion (not shown) provided in the vicinity) becomes a field of view when the occupant directly looks directly ahead of the vehicle with the naked eye.

The front door glass 120 is provided in the upper part of the left and right front doors used for passengers getting on and off and on the side of the driver.
The front door glass 120 includes a liftable main body 121 and a fixed triangular window 122 provided at the front of the main body 121.

The side mirror 130 is used by the driver to check the left / right rear view.
The side mirror 130 protrudes outward in the vehicle width direction from the outer panels of the left and right front doors.
In the passenger field of view, the side mirror 130 can be seen in the vicinity of the front end of the main body 121 of the front door glass 120, for example.

The instrument panel 140 is an interior member provided below the windshield 110 in the vehicle interior.
The instrument panel 140 also functions as a housing that accommodates various instruments, display devices, switches, air conditioners, front passenger airbag devices, knee protection airbag devices, and the like.
The instrument panel 140 includes a combination meter 141, a multi-function display 142, a navigation device display 143, and the like.

The combination meter 141 is provided in front of the driver's seat and is a unit of various instruments such as a speedometer, an engine tachometer, and a distance meter.
The multi-function display 142 is image display means such as an LCD provided at the upper part of the instrument panel 140 in the center in the vehicle width direction.
The navigation device display 143 is an image display means such as an LCD on which a navigation device (not shown) displays a map or the like.
The navigation device display 143 is provided at the lower portion of the instrument panel 140 in the center in the vehicle width direction.

The steering wheel 150 is an annular operation member that inputs a steering operation when the driver manually operates.
The steering wheel 150 is provided substantially in front of the driver.
The combination meter 141 is visible from the inner diameter side in the upper half of the steering wheel 150 in the passenger view.

The A-pillar 160 is a columnar vehicle body structural member disposed along the side end portion of the windshield 110 and the front end portion of the front door glass 120.
The surface of the A pillar 160 on the vehicle interior side is covered with a resin pillar trim.

The roof 170 is formed to extend rearward from the upper end portion of the windshield 110.
A surface portion of the roof 170 on the vehicle interior side is covered with a resin roof trim.
A stereo camera housing portion 171 in which the camera LH11 and the camera RH12 are housed is provided at the front end portion of the roof 170 in the center in the vehicle width direction.

The rearview mirror 180 is a rearward confirmation mirror provided in the vehicle interior.
The room mirror 180 is provided in the vicinity of the upper end portion of the windshield 110 in the vehicle width direction central portion via a stay (not shown).

The screen portion of the display device 50 is provided, for example, so as to protrude from the vicinity of the A pillar 160 on the side opposite to the driver (left side in the case of FIG. 2) in the left-right direction to the center in the vehicle width direction (front glass 110 side). .
A part of the display device 50 is arranged so as to overlap the front side of the windshield 110 when viewed from the viewpoint of the passenger.

Next, the operation of the visual assistance device of the first embodiment will be described.
FIG. 3 is a flowchart showing the operation of the visual assistance device of the first embodiment.
Hereinafter, the steps will be described step by step.

<Step S01: Obtain Front Image Data>
The display image generation unit 40 acquires image data in front of the host vehicle captured by the camera LH11 and the camera RH12 from the stereo image processing unit 13 of the stereo camera device 10.
Thereafter, the process proceeds to step S02.

<Step S02: Occupant viewpoint position detection>
The occupant monitoring unit 30 performs predetermined image processing on the image data captured by the occupant photographing camera 31, and detects the viewpoint position (coordinate position of the eye) of the occupant (driver during manual operation).
For example, the coordinate positions of the left and right eye parts can be detected, and the intermediate point can be used as the viewpoint position used for setting the display range.
Information regarding the detected viewpoint position is provided to the display image generation unit 40.
Thereafter, the process proceeds to step S03.

<Step S03: Judgment of existence of risk object>
The environment recognition unit 20 determines whether or not there is a risk object that is likely to collide with the host vehicle in a range around the host vehicle and capable of being displayed as an image by the display device 50.
Information regarding the determination result (presence / absence of risk object) by the environment recognition unit 20 is transmitted to the display image generation unit 40.
When there is a risk object, information such as a relative position, a relative speed, and a type with respect to the host vehicle is also transmitted to the display image generation unit 40.
If there is a risk object, the process proceeds to step S05, and if not, the process proceeds to step S04.

<Step S04: Normal Display Image Generation>
The display image generation unit 40 generates a normal display image that is displayed on the display device 50 at the normal time (when no risk object is detected).
The display magnification of the normal display image can be the same or reduced (wide angle) with respect to the field of view where the front of the host vehicle can be seen with the naked eye.
At this time, when the viewpoint position of the occupant is present at the position during normal driving, the display image generation unit 40 viewed the display position reference point R (see FIG. 2) set on the image from the viewpoint of the occupant. Is displayed so that the occupant's eyes directly observe the portion corresponding to the display position reference point R (the subject displayed at the display position reference point R on the image) with the naked eye. Set the image display range and display position.
Thereafter, the process proceeds to step S06.

<Step S05: Risk Object Close-up Image Generation>
The display image generation unit 40 generates a risk object close-up image for enlarging and displaying the risk object by trimming a region including the risk object from the image data provided from the stereo camera device 10.
At this time, for example, the display color may be changed or the display may be blinked so that the risk object close-up image is more strongly alerting the occupant.
In addition, a text message or a pictorial symbol indicating that the risk object exists may be displayed. Further, such display and voice message, warning sound, etc. may be used in combination.
In the risk object close-up image, the risk object can be displayed on the display device 50 at all times regardless of the viewpoint position of the passenger.
Thereafter, the process proceeds to step S06.

<Step S06: Display Device Diagnosis>
The display image generation unit 40 determines whether or not the display device 50 can normally display an image by using a self-diagnosis function provided in the display device 50.
If the display device 50 can display an image normally, the process proceeds to step S07. If the image cannot be displayed normally due to some failure, the process proceeds to step S10.

<Step S07: Image display execution>
The display image generation unit 40 causes the display device 50 to display the image generated in step S05 or step S06, and then proceeds to step S08.

<Step S08: Determination of presence or absence of viewpoint movement>
The display image generation unit 40 determines whether or not the occupant's viewpoint position has moved based on the detection result of the occupant's viewpoint position by the occupant monitoring unit 30.
When a displacement equal to or greater than a predetermined threshold is detected at the viewpoint position of the occupant, the process proceeds to step S09, and in other cases, a series of processes is terminated.

<Step S09: Change display range>
The display image generation unit 40 changes the display range of the image displayed on the display device 50 according to the displacement of the viewpoint position detected in step S08.
FIG. 4 is a diagram illustrating visual angle detection in the visual assistance device of the first embodiment.
FIG. 4 schematically shows the vehicle viewed from the vertical direction.
A case where the occupant's viewpoint position is displaced from P1 to P2 to the right along the vehicle width direction will be described as an example.
The display image generation unit 40 calculates a viewing angle change amount θ that is an angle formed by a straight line connecting the viewpoint movement reference point O set at the right end in the display area of the display device 50 and the viewpoint positions P1 and P2. To do.
The display image generation unit 40 displays the image displayed on the display device 50 by the pan amount calculated by multiplying the viewing angle change amount θ by a preset coefficient, in the opposite direction to the viewpoint movement direction (in this case, on the left side). ) Pan (horizontal framing movement).
Further, the image displayed on the display device 50 may be tilted (vertical framing movement) by a substantially similar method in accordance with the vertical displacement of the viewpoint position.
Such panning and tilting can be performed by changing the trimming range when trimming the image provided from the stereo camera device 10 when the cameras LH11 and RH12 have a sufficiently wide angle of view. it can.
In addition, when a risk object is detected and a close-up image of the risk object is displayed, even if the viewpoint position has moved, the display range is changed so that the risk object deviates from the display range. Is prohibited, and risk objects are always displayed.
Thereafter, the series of processing is terminated.

<Step S10: Image display off>
The display image generation unit 40 stops the image display by the display device 50 and makes the display device 50 substantially transparent and visible to the occupant.
Thereafter, the series of processing is terminated.

Hereinafter, the example of a display of the display apparatus 50 in the visual recognition assistance apparatus 1 of 1st Embodiment is demonstrated.
FIG. 2 shows a state where there is no risk object and the viewpoint position of the occupant is at the normal driving position.
Since there is no risk object, a normal display image is displayed on the display device 50.
In the state shown in FIG. 2, trees A, B, C, D, and E stand from the front side along the traveling direction of the host vehicle on the left side of the lane in which the host vehicle is traveling.
In the state shown in FIG. 2, the display range and display magnification of the image displayed on the display device 50 are substantially the same as the visual field viewed by the naked eye when the display device 50 is not present.
In this state, the entire trees A, B, and C are substantially visible, but the lower end of the tree D and most of the tree E are invisible.

FIG. 5 is a diagram illustrating another example of the driver field of view in the vehicle having the visual assistance device of the first embodiment, and is a diagram illustrating a state in which the viewpoint is moved from the state of FIG. 2 to the right side.
The image displayed on the display image 50 is panned to the left side as the occupant's viewpoint position has moved to the right side from the state shown in FIG.
In the state shown in FIG. 5, the main parts of the trees D and E can be visually recognized on the display device 50, but the trees B and C displayed in the state shown in FIG. It is outside.
In the first embodiment, when the occupant wants to view the left side state further from the state shown in FIG. 2, the image displayed on the display device 50 is shifted leftward by displacing the viewpoint position to the right side. The display range can be shifted to the left side and easily viewed.

FIG. 6 is a diagram illustrating another example of the driver field of view in the vehicle having the visual assistance device of the first embodiment, and illustrates a state when a risk of collision with another vehicle approaching from the side occurs. is there.
In the state shown in FIG. 6, there is an other vehicle V that travels in the right direction when viewed from the host vehicle, diagonally to the left of the host vehicle.
The other vehicle V is recognized as a risk object at the time shown in FIG. 6 because the possibility of a collision is increased.
The display device 50 displays a risk object close-up image in which the other vehicle image v obtained by imaging the other vehicle V is always enlarged and displayed.
In the state shown in FIG. 6, the other vehicle V is visible in the vicinity of the left end of the windshield 110 in the visual field viewed with the naked eye, but the other vehicle image v is visually observed with the naked eye on the display device 50. The other vehicle V is enlarged and displayed, the display color of the screen is changed, and a text message indicating danger is displayed to alert the occupant and encourage appropriate avoidance action. It has become.

According to the first embodiment described above, the following effects can be obtained.
(1) When the occupant moves the viewpoint to one side in the horizontal direction, the image can be panned (horizontal framing movement) to the other side in the horizontal direction, and the horizontal display range according to the occupant's intention Can be changed intuitively.
Such an operation is similar to the operation of changing the field of view when viewing the surroundings of the vehicle with the naked eye through a glass or through mirrors, and has become used to existing vehicles that do not have a visual aid. Even a passenger can easily use the visual field changing function.
(2) When the occupant moves the viewpoint to one side in the vertical direction, the image can be tilted (vertical framing movement) to the other side in the vertical direction, and the display range in the vertical direction according to the occupant's intention Can be changed intuitively.
(3) By providing the viewpoint movement reference point O used for calculating the viewing angle change amount θ on the right side (occupant side in the left-right direction) of the display area of the display device 50, the display range is greatly changed with a relatively small viewpoint movement amount. A wide range of field of view information can be obtained without excessively moving the viewpoint.
(4) When there is a risk object, the normal display image is switched to the risk object close-up image, and the risk object is always displayed to alert the occupant and the visibility of the risk object. Can be encouraged to take appropriate measures.

Second Embodiment
Next, a second embodiment of the visual assistance device to which the present invention is applied will be described.
In each embodiment described below, portions that are substantially the same as those in the first embodiment described above are denoted by the same reference numerals, description thereof is omitted, and differences are mainly described.

FIG. 7 is a diagram illustrating visual detection in the visual assistance device of the second embodiment.
In the second embodiment, the viewpoint movement reference point O used for calculating the viewing angle change amount θ is provided at the end of the display device 50 on the side opposite to the passenger side (left side) in the left-right direction.
According to the second embodiment described above, by suppressing the change amount of the display range with respect to the viewpoint movement amount, it is possible to prevent the change of the display range from becoming complicated and giving the passenger an uncomfortable feeling.

<Third Embodiment>
Next, a third embodiment of the visual assistance device to which the present invention is applied will be described.
In the visual assistance device of the third embodiment, when a risk object is detected, instead of switching to a risk object close-up image that constantly enlarges and displays the risk object as in the first embodiment, The pan amount of the image with respect to the movement amount of the viewpoint position in the normal display image is increased (gain is increased).
At this time, as in the first embodiment, the display color may be changed or a warning message may be displayed.
According to the third embodiment described above, when there is a risk object, the panning amount of the image with respect to the viewpoint movement amount increases, which gives the passenger a sense of incongruity, alerts the passenger, and improves safety. can do.

(Modification)
The present invention is not limited to the embodiments described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention.
(1) The configurations of the vehicle and the visual assistance device are not limited to the above-described embodiments, and can be changed as appropriate.
For example, the position where the display device is provided and the number of display devices can be changed as appropriate.
In addition, the function realized by a single unit or the like in the embodiment may be divided into a plurality of units, or the function realized by a plurality of units in the embodiment may be aggregated into a single unit.
(2) In the embodiment, a transparent LCD is used as the display device, but the specific configuration of the display device is not limited to this and can be changed as appropriate. For example, a general LCD that is not transparent or an organic EL display may be used.
Further, an image may be projected onto a windshield or a transparent plate provided separately from the windshield using a head-up display device.
(3) In the embodiment, an image captured by a stereo camera device used for environment recognition in front of the host vehicle is used to generate a display image. However, a dedicated camera unit may be provided for display image generation. .
In this case, when panning and shifting an image, instead of changing a trimming range for trimming a partial range of a wide-angle captured image, the camera itself may be driven by an actuator to change the angle.

1 Visual Auxiliary Device 10 Stereo Camera Device 11 Camera LH 12 Camera RH
13 stereo image processing unit 20 environment recognition unit 30 occupant monitoring unit 31 occupant photographing camera 40 display image generation unit 50 display device 110 windshield 120 front door glass 121 main body 122 triangular window 130 side mirror 140 instrument panel 141 combination meter 142 Multifunction display 143 Navigation device display 150 Steering wheel 160 A pillar 170 Roof 171 Stereo camera housing 180 Room mirror A, B, C Tree a, b, c Tree image R Display position reference point V Other vehicle v Other vehicle image P1, P2 Crew's viewpoint position O Viewpoint movement reference point

Claims (7)

An imaging device for imaging the surroundings of the host vehicle;
An image display device for displaying an image captured by the imaging device;
A viewpoint detection device for detecting the position of the passenger's viewpoint;
A visual assistance device comprising: display range changing means for panning an image displayed on the image display device to the other side in the horizontal direction according to the movement of the viewpoint to one side in the horizontal direction. The visual assistance device according to claim 1, wherein the display range changing unit tilts the displayed image to the other side in the vertical direction according to the movement of the viewpoint to the one side in the vertical direction. 3. The image display device according to claim 1, wherein at least a horizontal display magnification when viewed from the viewpoint of the occupant is displayed in a reduced manner with respect to a visual field viewed with the naked eye. Visual assistance device. The image display device is arranged offset in the left-right direction with respect to the occupant,
The display range changing unit sets a pan amount of the image according to a moving angle of the viewpoint when viewed from a viewpoint moving reference point set in the vicinity of the occupant side end in the left-right direction of the image display device. The visual assistance device according to any one of claims 1 to 3, wherein: The image display device is arranged offset in the left-right direction with respect to the occupant,
The display range changing means pans the image according to a movement angle of the viewpoint when viewed from a viewpoint movement reference point set in the vicinity of the end opposite to the occupant side in the left-right direction of the image display device. The amount is set. The visual recognition auxiliary device according to any one of claims 1 to 3, wherein the amount is set. A risk object detection means for detecting a risk object around the host vehicle;
The display range changing unit increases the pan amount of the image with respect to the movement amount of the viewpoint when the risk object is detected. 6. The visual aid device described in 1. A risk object detection means for detecting a risk object around the host vehicle;
The display range changing unit sets the display range so that the risk target object is displayed regardless of the position of the viewpoint when the risk target object is detected. The visual assistance device according to any one of 5 to 5.

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